Abstract
In this paper, a model free sliding mode controller is designed for a power line inspection robot system that only the I/O information is available. The compact form dynamic linearization (CFDL) technique is firstly applied to approximate the original nonlinear system via an unknown pseudo-partial derivative (PPD) Jacobean matrix. Then an observer is designed to obtain an update law of PPD matrix. Meanwhile, a sliding mode control framework with index reaching law is studied to ensure the error’s asymptotically convergence. Besides, the robust stability of the closed-loop system and the selection of controller’s parameters are discussed using the Lyapunov theorem. Furthermore, a pigeon-inspired optimization (PIO) algorithm is used to automatically tune these parameters. Eventually, the simulation is carried out to demonstrate the effectiveness of the proposed control scheme.
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